Synchronization of multiple Euler-Lagrange systems with communication delays

Abdelkader Abdessameud, Ilia G. Polushin, Abdelhamid Tayebi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

6 Scopus citations

Abstract

The synchronization problem of networked Euler-Lagrange systems is addressed. The information flow in the network is subject to unknown time-varying (possibly discontinuous) communication delays, and is represented by a directed communication graph that contains a spanning tree. Using a small gain framework, it is shown that the proposed control scheme achieves synchronization under mild and realistic assumptions on the communication delays. Simulation results are presented that confirm the validity of the proposed approach.

Original languageEnglish (US)
Title of host publication2012 American Control Conference, ACC 2012
Pages3748-3753
Number of pages6
Publication statusPublished - 2012
Event2012 American Control Conference, ACC 2012 - Montreal, QC, Canada
Duration: Jun 27 2012Jun 29 2012

Other

Other2012 American Control Conference, ACC 2012
CountryCanada
CityMontreal, QC
Period6/27/126/29/12

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All Science Journal Classification (ASJC) codes

  • Electrical and Electronic Engineering

Cite this

Abdessameud, A., Polushin, I. G., & Tayebi, A. (2012). Synchronization of multiple Euler-Lagrange systems with communication delays. In 2012 American Control Conference, ACC 2012 (pp. 3748-3753). [6315412]